version: 66.06
glider: 146
mission: 6
dive: 585
start: 7 26 111 1 17 7
data:
$ID,146
$MISSION,6
$DIVE,585
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1000
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,300
$T_MISSION,600
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52520
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-282185.44
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3175
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3010
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.527605
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0036476359
$SEABIRD_T_H,0.00058019959
$SEABIRD_T_I,1.488937e-05
$SEABIRD_T_J,2.4708795e-06
$SEABIRD_C_G,-10.237597
$SEABIRD_C_H,1.1413157
$SEABIRD_C_I,-0.0016513355
$SEABIRD_C_J,0.00021051844
$GPS1,010726,2242.382,-15800.206,26,99.0,45,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-71.6
$GPS2,011619,2242.427,-15800.268,13,1.2,31,10.0
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.120,-0.181
$KALMAN_X,-568207.3,167.2,-60.9,562173.2,-2042.9
$KALMAN_Y,247009.5,-281.7,113.6,-249570.6,917.5
$MHEAD_RNG_PITCHd_Wd,136.4,78671,-21.6,-10.000
$D_GRID,900
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.47,-97.3,0.0,0.0,0,93,0.00,0.00,-70.95,0.000,2,0.000,0.000,474,2188,3301,0,0,0,0,0,0
$GC,96,-1.47,-97.3,4.3,-7.8,9,122,12.68,2.83,-1.90,0.000,4,0.157,0.053,2846,510,3410,0,0,0,0,0,0
$GC,154,-1.28,-97.3,21.1,-21.7,16,162,0.20,2.50,0.00,0.000,6,0.101,0.018,2892,2105,3410,0,0,0,0,0,0
$GC,558,-1.28,-97.3,76.7,-13.2,57,562,0.00,2.47,0.00,0.000,4,0.000,0.030,2892,3663,3412,0,0,0,0,0,0
$GC,580,-1.28,-97.3,80.0,-14.4,58,584,0.00,2.50,0.00,0.000,6,0.000,0.030,2892,2082,3412,0,0,0,0,0,0
$GC,969,-1.37,-97.3,124.3,-9.3,94,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2082,3413,0,0,0,0,0,0
$GC,1354,-1.47,-97.3,161.1,-10.1,130,1359,0.15,2.55,0.00,0.000,4,0.062,0.035,2840,3662,3414,0,0,0,0,0,0
$GC,1417,-1.47,-97.3,169.1,-12.0,135,1421,0.00,2.47,0.00,0.000,6,0.000,0.021,2840,2091,3414,0,0,0,0,0,0
$GC,1805,-1.47,-97.3,209.9,-9.5,171,1807,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2091,3415,0,0,0,0,0,0
$GC,2188,-1.52,-97.3,244.4,-9.7,207,2192,0.00,2.53,0.00,0.000,4,0.000,0.033,2840,3661,3415,0,0,0,0,0,0
$GC,2284,-1.60,-97.3,254.3,-10.8,215,2288,0.00,2.45,0.00,0.000,6,0.000,0.024,2840,2111,3415,0,0,0,0,0,0
$GC,2675,-1.67,-97.3,293.2,-8.5,251,2680,0.12,2.55,0.00,0.000,4,0.067,0.042,2792,3669,3415,0,0,0,0,0,0
$GC,2705,-1.67,-97.3,296.0,-9.9,253,2710,0.00,2.47,0.00,0.000,6,0.000,0.030,2792,2103,3415,0,0,0,0,0,0
$GC,3097,-1.67,-97.3,335.1,-11.6,289,3101,0.00,2.55,0.00,0.000,4,0.000,0.045,2792,3657,3415,0,0,0,0,0,0
$GC,3173,-1.67,-97.3,344.6,-12.7,295,3178,0.00,2.47,0.00,0.000,6,0.000,0.036,2792,2124,3415,0,0,0,0,0,0
$GC,3565,-1.67,-97.3,389.0,-11.1,331,3570,0.00,2.55,0.00,0.000,4,0.000,0.054,2792,3661,3414,0,0,0,0,0,0
$GC,3627,-1.67,-97.3,396.8,-11.6,336,3631,0.00,2.53,0.00,0.000,6,0.000,0.048,2792,2122,3414,0,0,0,0,0,0
$GC,4015,-1.67,-97.3,441.5,-11.5,372,4020,0.00,2.60,0.00,0.000,4,0.000,0.054,2792,3653,3411,0,0,0,0,0,0
$GC,4114,-1.72,-97.3,452.8,-11.4,380,4120,0.00,2.58,0.00,0.000,6,0.000,0.056,2792,2132,3411,0,0,0,0,0,0
$GC,4502,-1.72,-97.3,488.7,-8.6,417,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2131,3408,0,0,0,0,0,0
$GC,4886,-1.72,-97.3,522.1,-9.0,436,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2131,3405,0,0,0,0,0,0
$GC,5251,-1.72,-97.3,559.6,-10.6,445,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2131,3402,0,0,0,0,0,0
$GC,5615,-1.72,-97.3,598.8,-10.5,454,5620,0.00,2.80,0.00,0.000,4,0.000,0.102,2792,3653,3399,0,0,0,0,0,0
$GC,5659,-1.77,-97.3,603.8,-11.7,455,5664,0.00,2.70,0.00,0.000,6,0.000,0.078,2792,2131,3399,0,0,0,0,0,0
$GC,6060,-1.81,-97.3,643.0,-9.6,465,6062,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2131,3397,0,0,0,0,0,0
$GC,6425,-1.85,-97.3,676.8,-9.2,474,6429,0.00,2.83,0.00,0.000,4,0.000,0.114,2792,3647,3394,0,0,0,0,0,0
$GC,6486,-1.92,-97.3,682.8,-9.7,475,6491,0.15,2.85,0.00,0.000,6,0.064,0.110,2746,2134,3393,0,0,0,0,0,0
$GC,6871,-1.88,-97.3,724.7,-11.0,485,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2134,3391,0,0,0,0,0,0
$GC,7235,-1.84,-97.3,759.2,-8.7,494,7241,0.12,3.17,0.00,0.000,4,0.120,0.161,2770,3658,3389,0,0,0,0,0,0
$GC,7277,-1.84,-97.3,762.3,-7.8,495,7282,0.00,2.65,0.00,0.000,6,0.000,0.060,2770,2124,3389,0,0,0,0,0,0
$GC,7683,-1.84,-97.3,792.7,-7.6,505,7688,0.00,2.62,0.00,0.000,4,0.000,0.063,2770,3657,3387,0,0,0,0,0,0
$GC,7722,-1.84,-97.3,796.0,-8.6,506,7727,0.00,2.60,0.00,0.000,6,0.000,0.058,2770,2139,3387,0,0,0,0,0,0
$GC,8130,-1.84,-97.3,832.2,-9.4,516,8131,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2139,3385,0,0,0,0,0,0
$GC,8494,-1.84,-97.3,865.8,-9.0,525,8499,0.00,3.20,0.00,0.000,4,0.000,0.132,2770,510,3383,0,0,0,0,0,0
$GC,8521,-1.84,-97.3,868.4,-9.9,525,8526,0.00,2.70,0.00,0.000,6,0.000,0.053,2770,2098,3382,0,0,0,0,0,0
$STATE,8890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8890,begin apogee
$GC,8898,-0.31,0.0,900.1,8.4,534,8986,1.52,0.00,83.30,1.246,6,0.088,0.000,3106,1891,3010,0,0,0,0,0,0
$STATE,8986,end apogee,CONTROL_FINISHED_OK
$STATE,8987,begin climb
$GC,8989,1.47,97.3,901.3,0.0,536,9093,1.62,2.97,90.85,1.219,4,0.037,0.081,3499,3491,2612,0,0,0,0,0,0
$GC,9117,1.34,141.7,898.5,7.0,539,9167,0.17,2.78,42.38,1.182,6,0.132,0.057,3467,1909,2430,0,0,0,0,0,0
$GC,9570,1.25,147.3,854.9,9.6,550,9580,0.00,3.12,4.60,0.800,4,0.000,0.116,3467,314,2409,0,0,0,0,0,0
$GC,9619,1.09,147.3,849.2,12.1,551,9624,0.28,2.67,0.00,0.000,6,0.119,0.036,3412,1904,2407,0,0,0,0,0,0
$GC,10015,1.12,171.5,816.1,8.4,561,10045,0.00,2.85,24.42,1.134,4,0.000,0.070,3412,3493,2309,0,0,0,0,0,0
$GC,10068,1.13,182.2,811.3,9.3,562,10087,0.00,2.75,11.57,1.042,6,0.000,0.050,3412,1894,2267,0,0,0,0,0,0
$GC,10460,1.14,185.8,773.2,9.8,572,10464,0.00,2.70,0.00,0.000,4,0.000,0.048,3412,3488,2260,0,0,0,0,0,0
$GC,10494,1.14,185.8,769.5,10.8,572,10499,0.00,2.75,0.00,0.000,6,0.000,0.051,3412,1897,2260,0,0,0,0,0,0
$GC,10865,1.14,185.8,730.8,10.5,582,10870,0.00,3.08,0.00,0.000,4,0.000,0.119,3412,311,2258,0,0,0,0,0,0
$GC,10892,1.14,185.8,727.7,10.9,582,10897,0.00,2.62,0.00,0.000,6,0.000,0.039,3412,1898,2258,0,0,0,0,0,0
$GC,11266,1.15,198.1,692.5,9.2,591,11287,0.00,2.85,15.18,1.041,4,0.000,0.072,3412,3487,2201,0,0,0,0,0,0
$GC,11321,1.22,205.2,687.3,9.5,592,11336,0.12,2.78,8.55,0.945,6,0.100,0.058,3443,1894,2171,0,0,0,0,0,0
$GC,11715,1.22,205.2,647.3,10.0,602,11716,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,1894,2167,0,0,0,0,0,0
$GC,12079,1.22,205.2,609.3,10.5,611,12084,0.00,3.03,0.00,0.000,4,0.000,0.112,3442,309,2167,0,0,0,0,0,0
$GC,12119,1.16,205.2,604.8,11.5,612,12123,0.00,2.62,0.00,0.000,6,0.000,0.031,3442,1897,2165,0,0,0,0,0,0
$GC,12525,1.17,216.5,565.8,9.2,622,12538,0.00,0.00,11.02,0.937,6,0.000,0.000,3442,1898,2127,0,0,0,0,0,0
$GC,12889,1.18,223.3,531.2,9.5,631,12899,0.00,0.00,7.88,0.867,6,0.000,0.000,3443,1899,2099,0,0,0,0,0,0
$GC,13278,1.18,223.3,489.8,11.4,645,13282,0.00,2.88,0.00,0.000,4,0.000,0.083,3443,312,2096,0,0,0,0,0,0
$GC,13321,1.18,223.3,483.9,13.2,648,13330,0.00,2.62,0.00,0.000,6,0.000,0.035,3443,1890,2095,0,0,0,0,0,0
$GC,13712,1.18,223.3,442.5,10.1,685,13718,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1891,2095,0,0,0,0,0,0
$GC,14103,1.19,232.8,404.3,9.3,722,14115,0.00,0.00,10.05,0.827,6,0.000,0.000,3442,1891,2060,0,0,0,0,0,0
$GC,14493,1.26,256.9,371.4,8.4,759,14522,0.00,0.00,24.17,0.858,6,0.000,0.000,3443,1892,1961,0,0,0,0,0,0
$GC,14907,1.35,270.8,335.0,9.1,798,14931,0.10,2.75,13.73,0.795,4,0.092,0.040,3470,3493,1905,0,0,0,0,0,0
$GC,14943,1.35,270.8,331.0,11.3,801,14947,0.00,2.72,0.00,0.000,6,0.000,0.041,3470,1880,1903,0,0,0,0,0,0
$GC,15331,1.39,270.8,286.7,11.6,837,15336,0.00,2.67,0.00,0.000,4,0.000,0.039,3470,3501,1902,0,0,0,0,0,0
$GC,15359,1.43,270.8,283.5,11.4,839,15364,0.00,2.65,0.00,0.000,6,0.000,0.034,3470,1885,1901,0,0,0,0,0,0
$GC,15748,1.50,297.3,244.9,8.2,875,15781,0.12,2.83,24.42,0.749,4,0.079,0.071,3507,320,1798,0,0,0,0,0,0
$GC,15824,1.45,297.3,236.7,12.9,881,15829,0.00,2.58,0.00,0.000,6,0.000,0.021,3507,1920,1796,0,0,0,0,0,0
$GC,16212,1.45,297.3,191.4,11.7,918,16217,0.00,2.78,0.00,0.000,4,0.000,0.061,3506,313,1795,0,0,0,0,0,0
$GC,16241,1.45,297.3,187.8,12.5,920,16245,0.00,2.53,0.00,0.000,6,0.000,0.022,3507,1903,1794,0,0,0,0,0,0
$GC,16629,1.48,321.8,146.4,8.3,956,16658,0.00,2.83,22.92,0.651,4,0.000,0.058,3507,316,1696,0,0,0,0,0,0
$GC,16741,1.48,321.8,135.7,11.0,965,16745,0.00,2.50,0.00,0.000,6,0.000,0.021,3507,1892,1694,0,0,0,0,0,0
$GC,17133,1.55,321.8,93.1,10.2,1001,17138,0.00,2.55,0.00,0.000,4,0.000,0.032,3506,3472,1693,0,0,0,0,0,0
$GC,17191,1.67,321.8,86.9,11.0,1005,17196,0.12,2.58,0.00,0.000,6,0.077,0.031,3543,1880,1693,0,0,0,0,0,0
$GC,17585,1.67,321.8,44.0,11.4,1041,17589,0.00,2.65,0.00,0.000,4,0.000,0.058,3542,320,1693,0,0,0,0,0,0
$GC,17680,1.67,321.8,31.1,12.8,1048,17689,0.00,2.47,0.00,0.000,6,0.000,0.019,3542,1891,1692,0,0,0,0,0,0
$STATE,17932,end climb,SURFACE_DEPTH_REACHED
$STATE,17932,begin surface coast
$FINISH,0.9,0.976052
$STATE,17981,end surface coast,CONTROL_FINISHED_OK
$STATE,17981,begin surface
$SM_CCo,18005,47.97,0.520,0,0,1460,380.21
$SM_GC,1.42,0.00,0.00,47.97,0.000,0.000,0.520,475,2163,1460,-12.42,1.81,380.21
$IRIDIUM_FIX,2234.68,-15758.03,181000,202018
$TT8_MAMPS,0.026078
$HUMID,65.27
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,19.80
$XPDR_PINGS,157
$24V_AH,22.9,74.035
$10V_AH,9.9,68.417
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,29.950,151.525,395.050,47.975,0.000,29.993,36.332,272.128,39.250,0.000,32.943,1931.761,12221.139,515.519,3130.239,770.235,33.380,1629.387,0.000,3113.583,0.000,0.534,0.000
$DEVICE_MAMPS,157.235,161.070,1246.375,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,749.313,702.847,944.764,1303.963,1095.798,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355900
$DATA_FILE_SIZE,86018,1091
$CAP_FILE_SIZE,154692,0
$CFSIZE,260165632,150097920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260711,061924,2240.859,-15800.059,24,1.2,41,10.0